Abstract
A high performance digging algorithm for hydraulic excavator has not established, because a relationship digging parameters and digging performance is complex. Therefore, we have investigated how digging performance may be affected by the digging trajectory. The ultimate goal of this study is to learn the digging performance by the simulation for the automatic digging process. Authors define the soil volume per the applied energy as digging efficiency in this paper. A miniature test device was developed to simulate the digging by the pre-programmed bucket tip trace. In addition, a digging simulation model by two dimensional distinct element methods (2D-DEM) was developed. The simulation is validated by comparing with the digging test results of the miniature. Finally, using the developed simulation, we tried to clarify quantitatively that the digging efficiency with respect to the tip trace. We simulated digging efficiency to modulate digging trajectory and speed. In this simulation, it is quantitatively clarified that the digging efficiency due to the tip trace and the digging speed